A Robot for Scanning Rooms in 3D

At Floored Inc, I built a device for taking 3D scans of interior spaces. Using a Hokuyo laser rangefinder, a 2D color camera, and a computer mounted on a motor-controlled tripod, I was able to create some
nice point clouds (as above), linked with image data. “Nelson,” as we called
v0 of this scanner, was built in Node.js (albeit with many C bindings). Node’s asynchronous style was both
a blessing and a curse for this project; on the one hand, it made it easy to parallelize tasks that could
be performed independently of each other, but was a pain when work needed to be done sequentially.
I would love to share my code, but unfortunately it belongs to Floored! You can see a picture
of Nelson and me here, though!